RTABMap Collaborative SLAM / Parallel sessions

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Hello,

I've been using RTABMap for a while, and I've been trying to set up multi-session mapping. On a related note, I want to know if RTABMap supports collaborative mapping between multiple agents. I think this could potentially done by running parallel mapping sessions under different namespaces, and the system would need to fuse maps from both the incoming pointclouds.

We could also make each mapping session / sensor try to localize itself in the other sensor's map, leading to a kind of "loop closure" between agents.

Has anyone tried this out?